Authors:Xing Song, Andrew J. McDaid, Sheng Q. XiePages: 107 - 118Abstract: Steady state visual evoked potentials (SSVEP) are less vulnerable to noise than other kinds of electroencephalography (EEG) signals and have therefore recently become popular in brain computer interface (BCI) applications. This paper firstly demonstrates an online asynchronous analogue (variable level) SSVEP-based BCI for lower limb rehabilitation in which the movement of robotic exoskeleton is continuously controlled by the user's intent. Such patient participation has proved to be one of the most important factors for rehabilitating the neural system after injury or stroke. Three new and different training protocols are developed specially for rehabilitation exercise and tested with the proposed adjacent narrow band-pass filter (ANBF) method. Results with six participants are presented with accuracy to within a knee angle of 1° after simple training. For the ANBF method with 0.3 Hz filter spans, the overall average recognition accuracy is 95.98% ± 4.15% and the overall average net latency is 2.84 ± 0.61 seconds. For the ANBF method with 0.1 Hz filter spans, the overall average recognition accuracy is 98.91% ± 1.50% and the overall average net latency is 4.29% ± 0.50% seconds. This gives much promise to future development of brain controlled rehabilitation devices.Keywords: steady state visual evoked potential; SSVEP; brain computer interface; analogue BCI; asynchronous BCI; adjacent narrow band-pass filter; ANBF; rehabilitation robotics; biomechatronics; lower limb rehabilitation; robotic exoskeleton; patient partiCitation: International Journal of Biomechatronics and Biomedical Robotics, Vol. 3, No. 3 (2015) pp. 107 - 118PubDate: 2016-09-27T23:20:50-05:00DOI: 10.1504/IJBBR.2015.079320Issue No:Vol. 3, No. 3 (2016)

Authors:Elvira Maranesi, Francesco Di Nardo, Giacomo G. Ghetti, Laura Burattini, Sandro FiorettiPages: 129 - 137Abstract: The aim of the study is to propose a new methodology to assess step length, duration and speed, using only two 1-degree-of-freedom electrogoniometers, positioned on hip and knee joints. To this purpose, a novel model was introduced, which represents the lower limb modelled as two rigid segments (thigh and shank). Model validation was performed comparing the results with those automatically achieved from two classic gait analysis systems (a 6-camera stereophotogrammetric system and GAITRite), during walking at three different speeds (natural, fast and slow). The absence of significant differences among parameter values estimated by the three systems indicates a strong reliability of the model. Thus, the study candidates this electrogoniometer-based model as a reliable and not expensive tool for an easy and flexible assessment of spatio-temporal gait parameters in normal subjects, and propose it as a valid alternative to traditional methods using foot switches, ground reaction forces, IMU or stereo-photogrammetric systems.Keywords: gait analysis; spatio-temporal gait parameters; electrogoniometry; biomechanical modelling; locomotion; kinematics; step length; step duration; speed; biped walking; lower limb modelsCitation: International Journal of Biomechatronics and Biomedical Robotics, Vol. 3, No. 3 (2015) pp. 129 - 137PubDate: 2016-09-27T23:20:50-05:00DOI: 10.1504/IJBBR.2015.079328Issue No:Vol. 3, No. 3 (2016)

Authors:Shilpi Mathur, Manvinder Kaur, Dinesh Bhatia, Suresh VermaPages: 138 - 144Abstract: One of the most exciting recent advances in the neuroprosthetics field has been the application of biosignals in the design of functional electrical stimulation (FES) devices. This review discusses the different approaches in the field of functional electrical stimulation (FES) enabling control of human gait and address fundamental perquisites to enable FES walking systems to become safer, more practical, comfortable and therefore, clinically efficacious. In many forms of disability in humans due to paralysis, it appears possible to regain some measure of functional control of movement through direct electrical stimulation of paralysed muscles. This review provides a comprehensive overview of the advancements in clinical uses of functional electrical stimulation functional and therapeutic applications in subjects with spinal cord injury or stroke. Perspectives on future developments and clinical applications of FES are also presented herewith in this paper.Keywords: functional electrical stimulator; FES walking systems; gait analysis; paraplegia; biopotential; stepping; spinal cord injury; SCI; strokes; electromyography; EMG signals; rehabilitation; electrical stimulation; biomechanics; neuroprosthetics; biosignCitation: International Journal of Biomechatronics and Biomedical Robotics, Vol. 3, No. 3 (2015) pp. 138 - 144PubDate: 2016-09-27T23:20:50-05:00DOI: 10.1504/IJBBR.2015.079330Issue No:Vol. 3, No. 3 (2016)

Authors:Enrico Franco, Marco Aurisicchio, Mike RisticPages: 145 - 158Abstract: This article presents the design and control of a pneumatic needle positioner for laser ablation of liver tumours under guidance by magnetic resonance imaging (MRI). The prototype was developed to provide accurate point-to-point remote positioning of a needle guide inside an MR scanner with the aim of evaluating the potential advantages over the manual procedure. In order to minimise alterations to the MR environment, the system employs plastic pneumatic actuators and 9 m long supply lines connecting with the control hardware located outside the magnet room. An improved sliding mode control (SMC) scheme was designed for the position control of the device. Wireless micro-coil fiducials are used for automatic registration in the reference frame of the MR scanner. The MRI-compatibility and the accuracy of the prototype are demonstrated with experiments in the MR scanner.Keywords: medical robotics; pneumatic systems; magnetic resonance imaging; MRI; sliding mode control; SMC; needle positioner design; 3-DOF needle positioner; MRI-guided laser ablation; liver tumours; pneumatic needle positioner; point-to-pointCitation: International Journal of Biomechatronics and Biomedical Robotics, Vol. 3, No. 3 (2015) pp. 145 - 158PubDate: 2016-09-27T23:20:50-05:00DOI: 10.1504/IJBBR.2015.079373Issue No:Vol. 3, No. 3 (2016)